Introduction to Robotics, Global Edition (4e) : 9781292164939

Introduction to Robotics, Global Edition (4e)

Published by
Pearson Higher Ed USA
Available once published
Title type

For senior-year undergraduate and first-year graduate courses in robotics.

An intuitive introduction to robotic theory and application

Since its original publication in 1986, Craig’s Introduction to Robotics: Mechanics and Control has been the leading textbook for teaching robotics at the university level. Blending traditional mechanical engineering material with computer science and control theoretical concepts, the text covers a range of topics, including rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear and non-linear control, force control methodologies, mechanical design aspects, and robotic programming.

The 4th Edition features a balance of application and theory, introducing the science and engineering of mechanical manipulation--establishing and building on foundational understanding of mechanics, control theory, and computer science. With an emphasis on computational aspects of problems, the text aims to present material in a simple, intuitive way.

Table of contents
  • 1. Introduction
  • 2. Spatial Transformations
  • 3. Forward Kinematics
  • 4. Inverse Kinematics
  • 5. Velocities, Static Forces, and Jacobians
  • 6. Dynamics
  • 7. Trajectory Planning
  • 8. Mechanical Design of Robots
  • 9. Linear Control
  • 10. Non-Linear Control
  • 11. Force Control
  • 12. Programming Languages and Systems
  • 13. Simulation and Off-Line Programming
New to this edition

About the Book


  • Additional exercises have been added at the end of each chapter
  • New section 8.9 added on optical encoders
  • New section 10.9 added on adaptive control
  • Updated material and references for changing technology and today’s robotics landscape
  • Several new or updated figures
  • More than 100 minor typos and other errors corrected
Features & benefits
  • Real-world applications present underlying theories in simple, understandable ways. This practicality helps students learn how to write algorithms to perform required computations.
  • End-of-chapter exercises feature “difficulty grades” so instructors can assign to students and easily implement a grade-point plan.
  • Programming Assignments at the end of each chapter emphasise concepts from a software perspective.
  • A balanced approach presents robotics concepts from mechanical, control theory, and computer science subdisciplines.
  • NEW! Additional exercises have been added to the end of each chapter.
  • UPDATED! New references, materials, and figures account for changing technology and reflect today’s robotics landscape.
  • REVISED! More than 100 minor typos have been corrected throughout the text.
  • NEW! Two sections have been added, including Section 8.9 on optical encoders and Section 10.9 on adaptive control.